ICRA 2013 Tutorial
Motion Planning for Mobile Manipulation: State-of-the-art Methods and Tools
http://moveit.ros.org/wiki/index.php/Tutorials/ICRA2013
This tutorial is scheduled to take place on Friday, May 10, 2013 at ICRA
2013 in Karlsruhe, Germany
OVERVIEW
This full-day tutorial is intended to expose both novice and expert users
to the most recent developments, both theoretical and practical, on the
topic of motion planning for mobile manipulation. The tutorial will combine
talks on the latest algorithmic developments by leading experts with
hands-on sessions where implemented tools will be presented and where
participants will walk through actual applications in mobile manipulation.
The tutorial will emphasize the practical aspects of using motion planners
on real robots, by discussing the integration of motion planning techniques
with perception, grasping and control. Particular attention will be paid to
motion planning with constraints, with use cases highlighting the handling
of constraints in real world tasks. Real-time performance will also be
examined, including the application of motion planners in assisted
tele-operation scenarios. The tutorial will be based on a wide range of
tools, including those in the MoveIt! software framework, the Open Motion
Planning Library (OMPL), the search-based planning library (SBPL) and other
associated tools.
Detailed information about the tutorial, including a tentative schedule, is
available at the URL listed above.
ORGANIZERS
• Sachin Chitta, Willow Garage
• Ioan Sucan, Willow Garage
• Mark Moll, Rice University
• Lydia Kavraki, Rice University
• Maxim Likhachev, CMU
INVITED SPEAKERS
• Siddhartha Srinivasa (CMU)
• Dmitry Berenson (WPI)
• Kostas Bekris (Rutgers University)
• Mike Phillips (CMU)
• Armin Hornung (Freiburg)
• Felix Meßmer (Fraunhofer IPA)
• Adolfo Rodríguez Tsouroikdissian (Presenter: Jordi Pagès), (PAL Robotics,
S.L.)
• Vincent Rabaud (Willow Garage)
• Ryan Luna (Rice University)
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Sachin Chitta
Manager and Research Scientist
Autonomous Mobile Manipulation Group
Willow Garage